Dopaminergic neurons dynamically update sensory values during navigation

Updating the value of sensory cues through experiences is a critical element of adaptive behavior. Although dopaminergic neurons (DANs) achieve this by driving associative learning, whether they contribute to assessment of sensory values outside the context of association remains largely unexplored. Here we show in Drosophila that DANs in the mushroom body encode the innate value of odors and constantly update the current value by inducing plasticity during olfactory navigation. Simulation of neuronal activity in a network based on the connectome data reproduced the characteristics of DAN responses, proposing a concrete circuit mechanism for computation. Notably, odors alone induced value- and dopamine-dependent changes in the activity of mushroom body output neurons, which store the current value of odors, as well as the behavior of flies steering in a virtual environment. Thus, the DAN circuit known for discrete, associative learning also continuously updates odor values during navigation in a non-associative manner.